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<p><code>#include &lt;<a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>&gt;</code></p>
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<tr class="memitem:acb2d0125410b1ad0a96bb8728ac0f245"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#acb2d0125410b1ad0a96bb8728ac0f245">~RobotController</a> ()</td></tr>
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<tr class="memitem:a4eef800145cb801ea6296630119b4a65"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a4eef800145cb801ea6296630119b4a65">initializeController</a> ()=0</td></tr>
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<tr class="memitem:a5242fbdd2532b1581ac45829be9688c9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a5242fbdd2532b1581ac45829be9688c9">runController</a> ()=0</td></tr>
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<tr class="memitem:a851e8f5aedb72a736cbaddb3dba3c5c2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a851e8f5aedb72a736cbaddb3dba3c5c2">updateVisualization</a> ()=0</td></tr>
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<tr class="memitem:a4f978bdc5c1e5c868ca578f1061489e7"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="../../d8/d86/class_control_parameters.html">ControlParameters</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">getUserControlParameters</a> ()=0</td></tr>
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<tr class="memitem:aacb14b1859bd16e29ec3c4d37aa7c846"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt; float &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#aacb14b1859bd16e29ec3c4d37aa7c846">_quadruped</a></td></tr>
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<tr class="memitem:a69b6efc95fa6bd1c3a5434c444cd032d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a69b6efc95fa6bd1c3a5434c444cd032d">_visualizationData</a></td></tr>
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<tr class="memitem:a60985529bde4f5c99ed71d2e87f01ed2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/d6a/class_robot_controller.html#a60985529bde4f5c99ed71d2e87f01ed2">_robotType</a></td></tr>
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Friends</h2></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00010">10</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">RobotController::RobotController </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00013">13</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{}</div></div><!-- fragment -->
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          <td class="memname">virtual RobotController::~RobotController </td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00014">14</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

<p>References <a class="el" href="../../d4/d6a/class_robot_controller.html#a4f978bdc5c1e5c868ca578f1061489e7">getUserControlParameters()</a>, <a class="el" href="../../d4/d6a/class_robot_controller.html#a4eef800145cb801ea6296630119b4a65">initializeController()</a>, <a class="el" href="../../d4/d6a/class_robot_controller.html#a5242fbdd2532b1581ac45829be9688c9">runController()</a>, and <a class="el" href="../../d4/d6a/class_robot_controller.html#a851e8f5aedb72a736cbaddb3dba3c5c2">updateVisualization()</a>.</p>
<div class="fragment"><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{}</div></div><!-- fragment -->
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">virtual <a class="el" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>* RobotController::getUserControlParameters </td>
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          <td class="memname">virtual void RobotController::initializeController </td>
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          <td class="memname">virtual void RobotController::runController </td>
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<p>Called one time every control loop </p>

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          <td class="memname">virtual void RobotController::updateVisualization </td>
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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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          <td class="memname">friend class <a class="el" href="../../d9/d42/class_robot_runner.html">RobotRunner</a></td>
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<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00011">11</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>* RobotController::_controlParameters</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00031">31</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a>* RobotController::_driverCommand</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00030">30</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d0/d96/class_leg_controller.html">LegController</a>&lt;float&gt;* RobotController::_legController</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00027">27</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a>&lt;float&gt;* RobotController::_model</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00026">26</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../dc/d66/class_quadruped.html">Quadruped</a>&lt;float&gt;* RobotController::_quadruped</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00025">25</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> RobotController::_robotType</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00034">34</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt;float&gt;* RobotController::_stateEstimate</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00029">29</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt;float&gt;* RobotController::_stateEstimator</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00028">28</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a>* RobotController::_visualizationData</td>
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<p>Definition at line <a class="el" href="../../d3/dff/_robot_controller_8h_source.html#l00033">33</a> of file <a class="el" href="../../d3/dff/_robot_controller_8h_source.html">RobotController.h</a>.</p>

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